U.S. patent number 5,170,790 [Application Number 07/679,701] was granted by the patent office on 1992-12-15 for arm having an end movable in translation, and therapeutic treatment apparatus constituting an application thereof.
This patent grant is currently assigned to Technomed International. Invention is credited to Muriel Cathaud, Marian Devonec, Francois Lacoste.
United States Patent |
5,170,790 |
Lacoste , et al. |
December 15, 1992 |
Arm having an end movable in translation, and therapeutic treatment
apparatus constituting an application thereof
Abstract
A positioning device for positioning an instrument in three
dimensions, the device comprising at least one arm which is
essentially rigid having a first end and a second end, the second
end being hinged relative to a support stand via at least one hinge
axis, and said instrument being mounted on a support which is
connected to the second end of the arm via at least one hinge axis,
wherein said instrument comprises an exploration probe and said
support for the instrument comprises a device for motion in
translation enabling the instrument comprising the exploration
probe to be moved in translation relative to the second end of the
arm, making it possible to perform exploration for each of the
translation positions. The invention enables the instrument at the
end of the positioning device to be moved in translation, thereby
providing a maximum amount of freedom for positioning the
instrument in three dimensions and facilitating locating
operations, particularly in the context of transrectal echographic
location, this being particularly useful for therapeutic treatment
of the prostate.
Inventors: |
Lacoste; Francois (Lyons,
FR), Devonec; Marian (Miribel, FR),
Cathaud; Muriel (Venissieux, FR) |
Assignee: |
Technomed International (Paris,
FR)
|
Family
ID: |
9395514 |
Appl.
No.: |
07/679,701 |
Filed: |
April 3, 1991 |
Foreign Application Priority Data
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Apr 6, 1990 [FR] |
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90 04440 |
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Current U.S.
Class: |
600/437;
128/122.1; 600/445; 600/459 |
Current CPC
Class: |
A61B
8/12 (20130101); A61B 8/4218 (20130101); F16C
11/106 (20130101); F16M 11/14 (20130101); F16M
11/2078 (20130101); A61B 2090/067 (20160201); A61B
2034/2059 (20160201) |
Current International
Class: |
A61B
8/12 (20060101); F16C 11/04 (20060101); F16M
11/14 (20060101); F16M 11/04 (20060101); F16M
11/02 (20060101); F16C 11/10 (20060101); A61B
010/00 () |
Field of
Search: |
;33/438,441
;128/660.01,660.04,660.07,660.09,662.03,122.1
;73/861.25,861.26 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Other References
W B. Taylor, J. W. Hunt, F. S. Foster, R. Blend, A. Worthington; "A
High-Resolution Transrectal Ultrasonographic System", Ultrasound in
Med. & Biol. vol. 5, No. 2, 1979, pp. 129-131, 133-138 and FIG.
3..
|
Primary Examiner: Howell; Kyle L.
Assistant Examiner: Manuel; George
Attorney, Agent or Firm: Cohen, Pontani, Lieberman,
Pavane
Claims
We claim:
1. A positioning device for use in three dimensional positioning of
a support having an instrument for use with a therapeutic treatment
apparatus, the device comprising a stand, at least one
substantially rigid arm having a first end and a second end, a
first hinge means for securing the first end to said stand for
movement about at least one hinge axis, a second hinge means for
securing said support to the second end of said at least one arm
for movement about at least one hinge axis, and means for moving
said support in translation relative to the second end of said at
least one arm for enabling said instrument to be moved in
translation relative to said second end of said at least one
arm.
2. A device according to claim 1, wherein said at least one arm
comprises first and second arms and further comprising a third
hinge means moveable about at least one hinge axis for securing
said first and second arms to each other, said support being
secured to the free end of said first arm.
3. A device according to claim 2, further comprising locking means
for simultaneously locking said first, second and third hinges
thereby restricting movement of said hinges about their respective
axes.
4. A device according to claim 3, wherein each hinge means includes
a moving part and a stationary part, and wherein the locking means
comprises means for effecting relative movement between the moving
parts and the stationary parts and wherein said means for effecting
movement are of the pneumatic or the hydraulic type.
5. A device according to claim 4, wherein said first and second
arms comprise tubes having internal passages which accommodate a
pneumatic or hydraulic fluid under pressure for effecting said
relative movement between said stationary parts and said moving
parts.
6. A device according to claim 2, wherein said first, second and
third hinges each comprises a ball-and-socket type joint and
wherein at least some of the sockets of said ball-and-socket joints
have their axes of symmetry at acute angles of inclination relative
to the axis of their attached arms, said angle of inclination lying
in the range of 20.degree. to 65.degree..
7. A device according to claim 6, wherein the means for moving the
support in translation comprises a link member secured at one end
to said support and at the other end to the socket at the free end
of one of said first arm, and wherein the angle of inclination
between said socket and said link member is different from the
angle of inclination between the sockets of the other
ball-and-socket joints and their attached arms.
8. A device according to claim 6, wherein said angle of inclination
is in the range of 35.degree.-60.degree..
9. A device according to claim 8, wherein said angle of inclination
is about 55.degree..
10. A device according to claim 1, wherein the means for moving
said support in translation further comprises means for rotating
the support, thereby enabling said instrument mounted on said
support to move in rotation and translation.
11. A device according to claim 10, wherein the means for rotating
the support includes a declutching member for enabling the support
to be rotated manually.
12. A device according to claim 1, wherein at least one of the
hinge means, and preferably all of the hinge means, comprise
ball-and-socket type joints.
13. A device according to claim 12, wherein the first and second
ends of the at least one substantially rigid arm are fixed to the
ball portion of the ball-and-socket type joints.
14. A device according to claim 1, further comprising measurement
means for measuring the displacement of the instrument at least in
translation.
15. A device according to claim 1, wherein said means for moving
said support in translation further comprises means for rotating
said instrument about its axis.
16. A device according to claim 1, wherein said means for moving
said support in translation comprises a link member fixedly secured
to one of said second end of at least said one arm and said support
and movably secured to the other of said second end of said at
least one arm and said support for movement of said support in
translation relative to said second end of said at least one
arm.
17. A device according to claim 16, wherein the means for moving
said support in translation further comprises an L-shaped member
with one leg having said link member affixed thereto, or having a
slot accommodating said link member, and the other leg supporting
said instrument for rotation about its axis.
18. In combination:
a therapeutic treatment apparatus: and
a positioning device for use in three dimensional positioning of a
support for carrying an instrument connected to the therapeutic
treatment apparatus, said positioning device comprising:
a stand, at least one substantially rigid arm having a first end
and a second end:
a first hinge means for securing the first end to said stand for
movement about at least one hinge axis;
a second hinge means for securing said support to the second end of
said at least one arm for movement about at least one hinge axis;
and
means for moving said support in translation relative to the second
end of said at least one arm for enabling said instrument to be
moved in translation relative to said second end of said at least
one arm.
19. The device according to claim 18, wherein said instrument
comprises an exploration probe providing a display.
20. The device according to claim 19, wherein said exploration
probe comprises a transrectal echographic probe for exploring the
prostate transrectally.
Description
The present invention relates essentially to an arm having an end
that is movable in translation, and also to therapeutic treatment
apparatus constituting an application thereof.
BACKGROUND OF THE INVENTION
Patent document FR-A-2 502 485 discloses exploration apparatus
having a "sound" or probe for ultrasound diagnosis, the apparatus
comprising an essentially rigid arm having two ends, a first end
which is hinged relative to a support stand via at least one hinge
axis, and preferably via at least two hinge axes, and a second end
including two perpendicular hinge axes supporting a second arm
having a support provided at the end thereof for an exploration
probe.
The exploration probe mounted on this arm cannot be moved in
translation at the end of the arm, and this constitutes a drawback
in the context of certain therapeutic applications, in particular
for medical exploration, in particular for transrectal
exploration.
Patent document FR-A-2 598 073 filed by the same Applicant also
discloses a positioning device for positioning an exploration probe
in three dimensions and occupying a limited volume. The positioning
device is particularly adapted to locating lithiases for
lithotrity.
However, that device makes no provision for moving the exploration
probe in translation and this limits its application in therapy, in
particular for transrectal exploration.
An object of the present invention is to solve the novel technical
problem consisting in providing a positioning device for
positioning an instrument in three dimensions and also enabling
said instrument to move in translation.
Another object of the present invention is to solve the novel
technical problem consisting in providing a positioning device for
positioning an instrument in three dimensions and offering maximum
freedom in positioning said instrument in three dimensions, the
positioning device being simple in design, easy to manufacture, and
relatively cheap on an industrial scale.
Another object of the invention is to solve the novel technical
problem consisting in providing a positioning device for
positioning in three dimensions an instrument including an
exploration probe, and suitable, in particular, for performing
echographical exploration, in particular transrectally, in a manner
which is extremely simple, effective, and reliable.
Using the positioning device of the invention for positioning in
three dimensions, it is possible to position any type of
exploration probe, and in particular a probe for radiographic
exploration, particularly using X-rays.
These technical problems are solved for the first time
simultaneously by the present invention.
SUMMARY OF THE INVENTION
Thus, in a first aspect, the present invention provides a
positioning device for positioning an instrument in three
dimensions, the device comprising at least one arm which is
essentially rigid having a first end and a second end, the second
end being hinged relative to a support stand via at least one hinge
axis, and said instrument being mounted on a support which is
connected to the second end of the arm via at least one hinge axis,
wherein said instrument comprises an exploration probe and said
support for the instrument comprises a device for motion in
translation enabling the instrument comprising the exploration
probe to be moved in translation relative to the second end of the
arm, making it possible to perform exploration for each of the
translation positions.
In an advantageous embodiment of the invention, the positioning
device comprises two arms hinged to each other by at least one
hinge, together with a hinge at each of their free ends, giving a
total of at least three hinges.
In another variant of the invention, said positioning device
includes locking means for locking the hinges simultaneously.
In yet another variant embodiment, said positioning device in which
the hinges include moving parts and stationary parts is
characterized in that the locking means provide temporary locking
by means of relative displacement between the moving parts and the
stationary parts of the hinges, and are of the pneumatic or the
hydraulic type, in particular.
In another embodiment, said locking means include at least one
continuous inside passage enabling a pneumatic or a hydraulic fluid
under pressure to pass inside the positioning device when locking
is activated, with the arms then being constituted by tubes.
In another advantageous embodiment of the invention, the
above-mentioned translation device comprises a stationary part
fixed to the hinge at the second end of the arm via a link member,
and a moving part movable in translation relative to the fixed
part, the moving part supporting the instrument, or vice versa.
In another particularly advantageous embodiment of the invention,
the moving part includes means for rotating the instrument, thereby
enabling the instrument to move in rotation.
According to a particular characteristic of the invention, the
above-mentioned means for rotating the instrument include a
declutching member enabling the instrument to be rotated
manually.
According to another advantageous characteristic of the device of
the invention, the moving part is L-shaped, with one branch thereof
moving in translation relative to the stationary parts of the
translation device, while its other branch supports the instrument,
advantageously in rotary manner.
In a preferred embodiment of the positioning device of the
invention, at least one of the hinges, and preferably all of the
hinges, is/are ball-and-socket type hinges.
In an advantageous embodiment, the ball-and-socket type hinge at
the second end of the arm is the opposite way round, such that the
arm is fixed both at its first end and its second end to the
normally moving ball part of said ball-and-socket type hinges.
According to another particularly preferred characteristic of the
invention, at least some of the sockets of the ball-and-socket
hinges have their axes of symmetry at respective acute angles of
inclination relative to the general axes of their arms; said angles
of inclination advantageously lying in the range 20.degree. to
65.degree., preferably lying in the range 35.degree. to 60.degree.,
and still more preferably, being about 55.degree..
According to another advantageous characteristic of the invention,
the angle of inclination between the socket of the last
ball-and-socket type hinge at the second end of the arm and the
link member linking it to the stationary part of the translation
device is different from that of the other ball-and-socket type
hinges.
In a second aspect, the present invention also provides therapeutic
treatment apparatus including a positioning device as defined above
for positioning an instrument in three dimensions.
In an advantageous embodiment of this therapeutic treatment
apparatus, the above-mentioned instrument is an exploration
instrument, in particular for providing a display, and in
particular an echographic probe, preferably of the transrectal
type, for transrectal exploration, and advantageously for exploring
the prostate transrectally. This probe may also be a radiographic
exploration probe, in particular for use with X-rays.
It will thus be understood that all of the above-mentioned decisive
technical advantages are obtained, thus making it possible, in
particular, to provide displacement in translation of an instrument
supported by the positioning device while maintaining the maximum
degrees of freedom for positioning the instruments in an arbitrary
position in three dimensions.
BRIEF DESCRIPTION OF THE DRAWINGS
An embodiment of the invention is described by way of example with
reference to the accompanying drawings, in which:
FIG. 1 is a diagrammatic perspective view of the essential parts of
a presently preferred embodiment of a positioning device for three
dimensional positioning of an instrument such as an exploration
probe, and in particular a probe of the echographic type, which
device is suitable for use in therapeutic treatment apparatus, and
in particular apparatus for hyperthermal treatment, particularly of
the prostate;
FIG. 2 is a fragmentary longitudinal section showing the
ball-and-socket type hinges of the positioning device shown in FIG.
1, with its device for providing motion in translation being
removed;
FIG. 3 is a plan view of the device for providing motion in
translation showing it in two different translation positions, thus
showing how the instrument supported by the device may be moved in
translation;
FIG. 4 is a section showing details on an enlarged scale of one of
the ball-and-socket type hinges of the invention;
FIG. 5 is a section on line V--V of FIG. 1; and
FIG. 6 is a section on line VI--VI of FIG. 1.
DETAILED DESCRIPTION
With reference more particularly to FIGS. 1, 2, and 3, a
positioning device of the invention for providing positioning in
three dimensions is given an overall reference numeral 10 and
serves to position an instrument 12 in three dimensions, the
instrument being constituted, for example, by an exploration probe
and in particular a probe of the echographic or radiographic type,
in particular for use with X-rays. The positioning device 10
comprises an essentially rigid arm 14 having a first end 14a and a
second end 14b. The first end 14a is hinged relative to a support
stand 16 about at least one hinge axis 18, 20, and preferably via
at least two hinge axes (18, 20). In addition, the instrument 12 is
mounted on a support 22 which is connected to the second end 14b of
the arm 14 via at least one hinge axis 24.
According to the present invention, this positioning device is
further characterized in that the support 22 for the instrument 12
includes a device 26 for providing motion in translation (shown in
greater detail in the section of FIG. 5) and serving to move the
instrument 12 in translation relative to the second end 14b of the
arm 14.
In an advantageous embodiment of the invention, this device 26 for
providing motion in translation comprises a stationary part 28
fixed to the hinge 24 at the second end 14b of the arm 14 via a
link member 29 and a moving part 30 which is movable in translation
relative to the stationary part 28, the moving part 30 supporting
the instrument 12 (see FIG. 5).
The moving part 30 may be moved in translation relative to the
stationary part 28 by any mechanical system well known to the
person skilled in the art. For example, the mechanical system may
be constituted by a rack system 90 meshing with a pinion 92 on a
drive motor 94 mounted on a support piece 100, which is U-shaped
for example, and which forms a portion of the stationary part 28.
For example, this support piece 100 may also support wheels 98
disposed on either side of a guide rail 96 fixed to the moving part
30, thereby providing accurate guidance of the motion in
translation of the moving part 30.
Translation measurement means 104 may also be provided to measure
the translation distance of the moving part 30. For example, this
translation measurement means may comprise a potentiometer type
encoder 106 as is well known to the person skilled in the art.
In a preferred embodiment of the invention, the moving part 30
includes means 32 (more clearly visible in FIG. 6) for rotating the
instrument 12 which is shown in dot-dashed lines.
These means 32 for rotating the instrument may, for example,
comprises a rotary drive motor 34 acting via a system comprising a
toothed wheel 36 co-operating with a drive component 38 such as a
toothed belt which rotates a toothed wheel 40. The toothed wheel 40
includes a central orifice 42 coaxial therewith and in which the
instrument 12 is inserted, which instrument may be constituted, for
example, by a probe for exploration by means of a display, in
particular a probe of the ultrasonic type for echographic
exploration.
The rotary drive means 32 may include a clutch member for enabling
the instrument 12 to be rotated manually. In this case, the clutch
member is constituted merely by the toothed belt drive system 38 in
combination with the motor 34. It will be understood that when the
probe 12 is rotated manually, then the wheel 40 supporting the
instrument 12 is likewise rotated manually, together with the belt
38 and the drive wheel 36 of the motor 34 in entirely free
manner.
According to yet another particularly advantageous embodiment of
the device of the invention, the device includes rotation measuring
means 50 for measuring the rotary displacement of the means 32, and
in particularly of the wheel 40. For example, this measurement
means 50 may comprise a potentiometer 52 provided with a toothed
wheel 54 which also meshes with a toothed wheel 36a constrained to
rotate with the wheel 36 of the motor 34, thereby making it
possible to calculate the rotary displacement of the wheel 40 and
thus of the instrument 12 on the basis of the number of turns
through which the wheel 54 rotates, as is well known to the person
skilled in the art.
According to another particularly advantageous embodiment of the
invention, the moving part 30 is L-shaped as can clearly be seen in
FIG. 1 and in FIG. 6, with one branch 30a thereof moving in
translation relative to the stationary part 28 and with the other
branch 30b thereof supporting the instrument 12. Because of the
L-shape, this other branch extends substantially perpendicularly to
the branch 30a. This other branch 30b includes a through orifice 31
whose axis is substantially perpendicular to said other branch 30b,
and thus substantially parallel to the branch 30a, and the toothed
wheel 40 and the instrument 12 are mounted coaxially in said
orifice 31. It will thus be understood that the axis of rotation of
the instrument 12 is parallel to the branch 30a, and this
constitutes an advantageous structural characteristic of the
invention.
According to another presently preferred feature of the positioning
device of the invention, at least some of the hinges 18, 20, and 24
are of the ball-and-socket type. In this case, all of the hinges
18, 20, and 24 are of the ball-and-socket type.
In a particular embodiment, as shown, the hinge 24 at the second
end 14b of the arm 14 is of the opposite way round to the hinge 18
at the first end 14a of the arm. In the preferred embodiment where
all of the hinges 18, 20, and 24 are of the ball-and-socket type,
these hinges comprise respectively a stationary part or "socket"
(respectively referenced 18a, 20a and 24a) which is essentially in
the form of a truncated sphere, together with a moving part or
"ball" which is essentially spherical in shape (and respectively
referenced 18b, 20b, and 24b), with the part 24b being clearly
visible in FIG. 2.
Since the hinge 24 at the second end 14b of the arm 14 is the
opposite way round, its "stationary" socket 24a is its part which
actually moves and which supports the stationary part 28 of the
device 22 for motion in translation which is fixed thereto by a
link member 60.
According to another particularly advantageous characteristic of
the invention, the ball-and-socket type hinges 18, 20, 24 are
designed in such a manner that the link member such as 60, 62, or
64 in each socket respectively referenced 24a, 28a, or 20a takes up
an acute angle of inclination .alpha. relative to the axis of
symmetry of the fixed part. This angle of inclination .alpha. may
be different for hinge axis 24 at the second end 14b of the arm
14.
Advantageously, this angle of inclination .alpha. lies in the range
20.degree. to 65.degree., and more preferably in the range
35.degree. to 65.degree.. A particularly preferred angle of
inclination is about 55.degree., as shown.
According to another advantageous characteristic of the invention,
a second arm 15 is provided, with the positioning device then
comprising a total of not less than three hinges 18, 20, and 24, as
shown. The first end 15a of the second arm 15 may be connected to
the hinge 20, and the second end 15b may be connected to the hinge
18 which it has in common with the first arm 14.
Because of this structure, a particularly simple positioning device
is obtained providing a maximum degree of freedom and in which the
instrument 12 is movably mounted by means of the displacement
device 22.
In addition, locking means 80 may be provided for locking the
hinges 18, 20, and 24 in position. These locking means 80 provide
temporary locking by relative displacement between the stationary
and the moving parts of the hinges and they are, in particular, of
the pneumatic or of the hydraulic type. The locking means 80
constitute an invention independent from the positioning device and
they are claimed for themselves.
In a particularly advantageous embodiment, the locking means 80
comprise at least one continuous inside passage 82a to 82i enabling
a pneumatic or a hydraulic fluid to pass inside the positioning
device 10, with the arms 14 and 15 then being constituted by tubes.
The fluid is put under pressure when locking is activated. The
pneumatic or hydraulic fluid is naturally conveyed by conventional
feed means (not shown).
These feed means preferably feed the pneumatic or hydraulic fluid
under pressure 102, which pressure preferably lies in the range 4
bars to 7 bars.
A sealing ring 84 may advantageously be provided towards the free
end of each socket 18a, 20a, 24a of each of hinge 18, 20, 24,
thereby also providing friction between the stationary and the
moving parts of the hinges.
To do this, a sealing ring 84 may be made of a material which is
different in nature from the material used for the moving parts of
the hinge, thereby increasing friction. For example, sealing ring
84 may be made of PVC while the balls such as 18b, 20b, and 24b is
made of a plastic material such as an acetal resin, e.g.
polyoxymethylene (POM).
It will thus readily be understood that the complete structure as
shown in FIGS. 1 to 6 constitutes an integral part of the invention
and therefore forms an integral part of the present
description.
The invention naturally covers all means constituting technical
equivalence of the means described, and various combinations
thereof.
This structure makes it possible to lock the ball-and-socket hinges
simultaneously, which is most practical, and allows the instrument
12 to be positioned accurately.
* * * * *